By Topic

Robots Driven by Compliant Actuators: Optimal Control Under Actuation Constraints

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

7 Author(s)
Braun, D.J. ; Sch. of Inf., Univ. of Edinburgh, Edinburgh, UK ; Petit, F. ; Huber, F. ; Haddadin, S.
more authors

Anthropomorphic robots that aim to approach human performance agility and efficiency are typically highly redundant not only in their kinematics but also in actuation. Variable-impedance actuators, used to drive many of these devices, are capable of modulating torque and impedance (stiffness and/or damping) simultaneously, continuously, and independently. These actuators are, however, nonlinear and assert numerous constraints, e.g., range, rate, and effort limits on the dynamics. Finding a control strategy that makes use of the intrinsic dynamics and capacity of compliant actuators for such redundant, nonlinear, and constrained systems is nontrivial. In this study, we propose a framework for optimization of torque and impedance profiles in order to maximize task performance, which is tuned to the complex hardware and incorporating real-world actuation constraints. Simulation study and hardware experiments 1) demonstrate the effects of actuation constraints during impedance control, 2) show applicability of the present framework to simultaneous torque and temporal stiffness optimization under constraints that are imposed by real-world actuators, and 3) validate the benefits of the proposed approach under experimental conditions.

Published in:

Robotics, IEEE Transactions on  (Volume:29 ,  Issue: 5 )